INTERNATIONAL STANDARD NORME INTERNATIONALE

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1 IEC Edition INTERNATIONAL STANDARD NORME INTERNATIONALE Electronic railway equipment Train communication network (TCN) Part 3-3: CANopen Consist Network (CCN) Matériel électronique ferroviaire Réseau embarqué de train (TCN) Partie 3-3: Réseau de rame CANopen (CCN) INTERNATIONAL ELECTROTECHNICAL COMMISSION COMMISSION ELECTROTECHNIQUE INTERNATIONALE PRICE CODE CODE PRIX XE ICS ISBN Warning! Make sure that you obtained this publication from an authorized distributor. Attention! Veuillez vous assurer que vous avez obtenu cette publication via un distributeur agréé. Registered trademark of the International Electrotechnical Commission Marque déposée de la Commission Electrotechnique Internationale

2 IEC:2012 CONTENTS FOREWORD INTRODUCTION Scope Normative references Terms, definitions and abbreviations Terms and definitions Abbreviations Conventions Architecture Content Logical CANopen-based consist network Network topology Addressing Data classes Physical layer Content Cabling Connector Physical medium attachment Physical signaling Data Link layer Content CANopen data link layer CANopen application layer Content Reference model Field device model CANopen communication objects CANopen object dictionary Predefined CANopen communication objects Content Object 1000 h : Device type Object 1001 h : Error register Object 1014 h : COB-ID emergency object Object 1017 h : Heartbeat producer Object 1018 h : Identity object Object 1029 h : Error behavior Object 67FF h : Device type Service data objects (SDOs) Process data objects (PDOs) Application data Content CANopen application data representation Recommended representation principle of application data Content... 25

3 IEC: Application data for door control Consumed door control application objects Produced door control application objects CANopen network management Content CANopen NMT slave functionality CANopen manager functionality General Object dictionary usage Redundant networks CANopen NMT start-up NMT startup NMT startup simple Start process boot NMT slave Boot NMT slave Check configuration Check NMT state NMT flying master start up Error status Error control Start error control Error handler Bootup handler Additional NMT master services and protocols Object dictionary entries Object 1020 h : Verify configuration Object 102A h : NMT inhibit time Object 1F20 h : Store DCF Object 1F22 h : Concise DCF Object 1F26 h : Expected configuration date Object 1F27 h : Expected configuration time Object 1F80 h : NMT startup Object 1F81 h : NMT slave assignment Object 1F82 h : Request NMT Object 1F83 h : Request node guarding Object 1F84 h : Device type identification Object 1F85 h : Vendor identification Object 1F86 h : Product code Object 1F87 h : Revision number Object 1F88 h : Serial number Object 1F89 h : Boot time Object 1F8A h : Restore configuration Object 1F91 h : Self starting nodes timing parameters Gateway functions Content Gateway architecture General principles and services Content Gateway class definitions... 73

4 IEC: Service primitives definitions Network access service specification SDO access services PDO access services CANopen NMT services Device failure management services CANopen interface configuration services Gateway management services Manufacturer-specific services ASCII mapping of network access services Content Definitions Network access command specification Train network management Content Manager, Agents and interfaces (informative) Management message protocol (informative) Object interfaces (informative) CANopen-specific management services General Agent interfaces on a Station connected to CANopen consist network Management message structure for CANopen consist networks Notation for the CANopen specific SIF_codes Notation for a call CANopen management message Notation for a reply CANopen management message Notation for the TNM CANopen services command codes TNM CANopen services Content Call_Write_CANopen_Command (with reservation) Reply_Write_CANopen_Command (with reservation) Call_Read_CANopen_Command (without reservation) Reply_Read_CANopen_Command (without reservation) CANopen management message data handling General Message data format Requirements for message data communication within CANopen networks Object 1F78 h : CANopen message data reception Conformance testing Bibliography Figure 1 Logical network architecture of the consist network Figure 2 Network topology of CANopen-based consist network Figure 3 9-pin D-sub connector Figure 4 5-pin micro style connector Figure 5 Field device model Figure 6 Minimum field device Figure 7 CANopen device structure... 22

5 IEC: Figure 8 Structure of the device type object Figure 9 Object structure Figure 10 Object structure Figure 11 Object structure Figure 12 NMT startup, part Figure 13 NMT startup, part Figure 14 NMT startup simple Figure 15 Start process boot NMT slave Figure 16 Boot NMT slave, part Figure 17 Boot NMT slave, part Figure 18 Boot NMT slave, part Figure 19 Check configuration Figure 20 Check NMT state Figure 21 Start error control Figure 22 Error handler Figure 23 Bootup handler Figure 24 Data stream definition of concise DCF Figure 25 Object structure Figure 26 Bit structure of the configuration value Figure 27 Object structure of the value Figure 28 Bit structure of the configuration value Figure 29 Gateway between Train backbone and CANopen consist network Figure 30 Management messages (informative) Figure 31 Agent interface on a CANopen (gateway) station for message data Figure 32 Call_Write_CANopen_Command Figure 33 Reply_Write_CANopen_Command Figure 34 Call_Read_CANopen_Command (without reservation) Figure 35 Reply_Read_CANopen_command (without reservation) Figure 36 CANopen device capable to handle TNM management messages Figure 37 Message data format comparison Table 1 Pinning for 9-pin D-sub connector Table 2 Pinning for 5-pin micro style connector Table 3 Bit timing Table 4 CANopen object dictionary structure Table 5 Value definition Table 6 Object description Table 7 Entry description Table 8 Value definition Table 9 Object description Table 10 Entry description Table 11 Value definition Table 12 Object description... 29

6 IEC:2012 Table 13 Entry description Table 14 Error status Table 15 Object description Table 16 Entry description Table 17 Object description Table 18 Entry description Table 19 Object description Table 20 Entry description Table 21 Object description Table 22 Entry description Table 23 Object description Table 24 Entry description Table 25 Object description Table 26 Entry description Table 27 Value NMT master (bit: 0) Table 28 Value Start all nodes (bit: 1) Table 29 Value NMT master start (bit: 2) Table 30 Value Start node (bit: 3) Table 31 Reset all nodes (bit: 4) Table 32 Flying master (bit: 5) Table 33 Stop all nodes (bit: 6) Table 34 Exceptions for NMT start-up capable devices Table 35 Object description Table 36 Entry description Table 37 NMT slave (bit: 0) Table 38 NMT boot slave (bit: 2) Table 39 Mandatory (bit: 3) Table 40 Reset communication (bit: 4) Table 41 Software version (bit: 5) Table 42 Software update (bit: 6) Table 43 Restore (bit: 7) Table 44 Object description Table 45 Entry description Table 46 Value definition Table 47 Object description Table 48 Entry description Table 49 Value definition Table 50 Object description Table 51 Entry description Table 52 Object description Table 53 Entry description Table 54 Object description Table 55 Entry description... 65

7 IEC: Table 56 Object description Table 57 Entry description Table 58 Object description Table 59 Entry description Table 60 Object description Table 61 Entry description Table 62 Object description Table 63 Entry description Table 64 Object description Table 65 Entry description Table 66 Object description Table 67 Entry description Table 68 Upload SDO service Table 69 Download SDO parameters Table 70 Configure SDO timeout parameters Table 71 Configure RPDO service parameters Table 72 Configure TPDO service parameters Table 73 Read PDO data service parameters Table 74 Write PDO data service parameters Table 75 RPDO received service parameters Table 76 Start node service parameters Table 77 Stop node service parameters Table 78 Set node to pre-operational service parameters Table 79 Reset node service parameters Table 80 Reset communication service parameters Table 81 Enable node guarding service parameters Table 82 Disable node guarding service parameters Table 83 Start heartbeat consumer service parameters Table 84 Disable heartbeat consumer service parameters Table 85 Error control event received parameters Table 86 Read device error service parameters Table 87 Emergency event received service parameters Table 88 Initialize gateway service parameters Table 89 Store configuration service parameters Table 90 Restore configuration service parameters Table 91 Set heartbeat producer service parameters Table 92 Set node-id service parameters Table 93 Start emergency consumer service parameters Table 94 Stop emergency consumer service parameters Table 95 Set default network service parameters Table 96 Start default node-id service parameters Table 97 Get version service parameters Table 98 Syntax and CANopen data types... 86

8 IEC:2012 Table 99 Command notation in BNF Table 100 Response notation Table 101 Internal error code (InEC) Table 102 Notation for event triggered messages Table 103 Syntax for upload SDO command Table 104 Examples for upload SDO command Table 105 Syntax for Download SDO command Table 106 Examples for download SDO command Table 107 Syntax for configure SDO timeout command Table 108 Syntax for configure RPDO command Table 109 Examples for configure RPDO command Table 110 Syntax for configure TPDO command Table 111 Examples for configue TPDO command Table 112 Syntax for read PDO data command Table 113 Response syntax for read PDO data command Table 114 Syntax for write PDO data command Table 115 Syntax for RPDO receive command Table 116 Examples RPDO received command Table 117 Syntax for start node command Table 118 Syntax for stop node command Table 119 Syntax set node to pre-operational command Table 120 Syntax reset node command Table 121 Syntax reset communication command Table 122 Syntax enable node guarding command Table 123 Syntax disable node guarding command Table 124 Syntax start heartbeat consumer command Table 125 Syntax disable heartbeat consumer command Table 126 Syntax for error control event received command Table 127 Syntax for read device error command Table 128 Syntax for emergency event received command Table 129 Syntax for initialize gateway command Table 130 Bit rate indices Table 131 Syntax for store configuration command Table 132 Storage specifier Table 133 Syntax restore configuration command Table 134 Syntax set heartbeat producer command Table 135 Syntax set node-id command Table 136 Syntax set default network command Table 137 Syntax set default node-id command Table 138 Syntax for get version command Table 139 Response syntax for get version command Table 140 Example for get version response Table 141 Management message structure... 99

9 IEC: Table 142 CANopen specific SIF_codes Table 143 Notation for a call CANopen management message Table 144 Notation for a reply CANopen management message Table 145 TNM CANopen services command codes (reservation required) Table 146 TNM CANopen services command codes (reservation not required) Table 147 Value definition for Call_Write_CANopen_Command Table 148 Value definition Reply_Write_CANopen_Command Table 149 Value definition for Call_Read_CANopen_Command (without reservation) Table 150 Value definition for Reply_Read_CANopen_Command (without reservation) Table 151 Object description Table 152 Entry description

10 IEC:2012 INTERNATIONAL ELECTROTECHNICAL COMMISSION ELECTRONIC RAILWAY EQUIPMENT TRAIN COMMUNICATION NETWORK (TCN) Part 3-3: CANopen Consist Network (CCN) FOREWORD 1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising all national electrotechnical committees (IEC National Committees). The object of IEC is to promote international co-operation on all questions concerning standardization in the electrical and electronic fields. To this end and in addition to other activities, IEC publishes International Standards, Technical Specifications, Technical Reports, Publicly Available Specifications (PAS) and Guides (hereafter referred to as IEC Publication(s) ). Their preparation is entrusted to technical committees; any IEC National Committee interested in the subject dealt with may participate in this preparatory work. International, governmental and nongovernmental organizations liaising with the IEC also participate in this preparation. IEC collaborates closely with the International Organization for Standardization (ISO) in accordance with conditions determined by agreement between the two organizations. 2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international consensus of opinion on the relevant subjects since each technical committee has representation from all interested IEC National Committees. 3) IEC Publications have the form of recommendations for international use and are accepted by IEC National Committees in that sense. While all reasonable efforts are made to ensure that the technical content of IEC Publications is accurate, IEC cannot be held responsible for the way in which they are used or for any misinterpretation by any end user. 4) In order to promote international uniformity, IEC National Committees undertake to apply IEC Publications transparently to the maximum extent possible in their national and regional publications. Any divergence between any IEC Publication and the corresponding national or regional publication shall be clearly indicated in the latter. 5) IEC itself does not provide any attestation of conformity. Independent certification bodies provide conformity assessment services and, in some areas, access to IEC marks of conformity. IEC is not responsible for any services carried out by independent certification bodies. 6) All users should ensure that they have the latest edition of this publication. 7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and members of its technical committees and IEC National Committees for any personal injury, property damage or other damage of any nature whatsoever, whether direct or indirect, or for costs (including legal fees) and expenses arising out of the publication, use of, or reliance upon, this IEC Publication or any other IEC Publications. 8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is indispensable for the correct application of this publication. 9) Attention is drawn to the possibility that some of the elements of this IEC Publication may be the subject of patent rights. IEC shall not be held responsible for identifying any or all such patent rights. International Standard IEC has been prepared by IEC technical committee 9: Electrical equipment and systems for railways. The text of this standard is based on the following documents: FDIS 9/1646/FDIS Report on voting 9/1670/RVD Full information on the voting for the approval of this standard can be found in the report on voting indicated in the above table. This publication has been drafted in accordance with the ISO/IEC Directives, Part 2. A list of all parts of IEC series, under the general title Electronic railway equipment Train Communication Network (TCN), can be found on the IEC website.

11 IEC: The committee has decided that the contents of this publication will remain unchanged until the stability date indicated on the IEC web site under " in the data related to the specific publication. At this date, the publication will be reconfirmed, withdrawn, replaced by a revised edition, or amended.

12 IEC:2012 INTRODUCTION TCN is an International Standard with the aim of defining interfaces so as to achieve plug-in compatibility: a) between equipment located in different vehicles or consists, and b) between equipment and devices located within the same vehicle or consist. One of the key success factors for the deployment of any technology is standardization and ensuring interoperability among various implementations. To facilitate interoperability a conformance test should be implemented. In this part of IEC 61375, the TCN deals with: the consist network based on CANopen. In addition gateway devices between the Train Backbone and the CANopen-based consist network are considered. This standard is structured into 13 clauses. This is a preview - click here to buy the full publication

13 IEC: ELECTRONIC RAILWAY EQUIPMENT TRAIN COMMUNICATION NETWORK (TCN) Part 3-3: CANopen Consist Network (CCN) 1 Scope This part of IEC specifies the data communication bus inside consists that are based on CANopen. CANopen was developed for use in, but is not limited to, industrial automation applications. These applications may include devices such as input/output modules, motion controllers, human machine interfaces, sensors, closed-loop controllers, encoders, hydraulic valves or programmable controllers. In the application field of rail vehicles CANopen networks are utilized to network subsystems in consists such as e.g. brake control system, diesel engine control system and interior or exterior lighting control system. In addition CANopen is utilized as consist network to enable the data exchange between the different subsystems within one single rail vehicle or a group of rail vehicles sharing the same Consist Network. This part of IEC applies to all equipment and devices operated on a CANopen-based consist network within TCN architecture as described in IEC The applicability of this standard to a TCN implementation allows for individual conformance checking of the implementation itself and is a pre-requisite for further interoperability checking between different TCN implementations. In any case, proof of compatibility between Train Backbone and the Consist Network will have to be brought by the supplier. This part of IEC applies to the architecture of communication systems in Open trains. In addition it may be applicable to closed trains and multiple unit trains when so agreed between purchaser and supplier. 2 Normative references The following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. IEC (all parts): Programmable controllers IEC , ed3, Electronic railway equipment Train Communication Network (TCN) Part 1: General Architecture IEC , Electronic railway equipment Train Communication Network (TCN) Part 2-1: Wire Train Bus (WTB) IEC , Electronic railway equipment Train Communication Network (TCN) Part 2-2: WTB Wire Train Bus conformance testing ISO/IEC 646:1991 Information technology ISO 7-bit coded character set for information interchange ISO/IEC 9899:1999, Programming languages C

14 IEC:2012 ISO :2003, Road vehicles Controller area network (CAN) Part 1: Data link layer and physical signaling ISO :2003, Road vehicles Controller area network (CAN) Part 2: High-speed medium access unit EN :2002, Industrial communication subsystems based on ISO (CAN) for controller- device interfaces Part 4: CANopen 3 Terms, definitions and abbreviations 3.1 Terms and definitions For the purposes of this document, the terms and definitions given in ISO , ISO , IEC , IEC and EN , as well as the following apply ASCII 7-bit coded character set according to ISO/IEC CANopen device End Device connected to a CANopen-based consist network Field device networked independent physical entity of an automation system capable of performing specified functions in a particular context and delimited by its interfaces logical consist network the way the data passes through the consist network without considering the physical interconnection of the End Devices logical device representation of a field device in terms of its objects and behavior according to a field device model that describes the device s data and behavior as viewed through a network Layer Setting Services services for adjusting bit rate and Node-ID via the communication interface of the CANopen device Node-ID a) network-wide unique identifier for each CANopen device b) 7-bit coded Device Address in CANopen-based consist networks Object entity with a well-defined boundary and identity that encapsulates state and behavior virtual device entity of software capable of accomplishing a functional element of a field device

15 CEI:2012 SOMMAIRE AVANT-PROPOS INTRODUCTION Domaine d'application Références normatives Termes, définitions et abréviations Termes et définitions Abréviations Conventions Architecture Teneur Réseau de rame logique basé sur CANopen Topologie de réseau Adressage Classes de données Couche physique Teneur Câblage Connecteur Fixation du support physique Signalisation physique Couche de Liaison de Données Teneur Couche de liaison de données CANopen Couche d application CANopen Teneur Modèle de référence Modèle de dispositif de terrain Objets de communication CANopen Dictionnaire d objets CANopen Objets de communication CANopen prédéfinis Teneur Objet 1000 h: Type de dispositif Objet 1001 h : Registre d erreurs Objet 1014 h : Objet situation critiquecob-id Objet 1017 h : Producteur de pulsation (heartbeat) Objet 1018 h : Objet Identité Objet 1029 h : Comportement à l erreur Objet 67FF h : Type de dispositif Objets de données de service (SDO) Objets de données de processus (PDO) Données d application Teneur Représentation des données d application CANopen Principe de représentation recommandé des données d application Teneur

16 CEI: Données d application pour la commande des portes Objets d application des commandes des portes utilisées Objets d application des commandes des portes produites Gestion de réseau CANopen Teneur Fonctionnalité Esclave NMT CANopen Fonctionnalité Gestionnaire CANopen Généralités Emploi du dictionnaire d objets Réseaux redondants Démarrage du NMT CANopen Démarrage du NMT Démarrage du NMT simple Démarrage du processus d initialisation de l esclave NMT Initialisation de l esclave NMT Vérification de la configuration Vérification de l état NMT Démarrage du maître volant NMT Etat d erreur Contrôle d erreurs Démarrage du contrôle d erreurs Gestionnaire de traitement d'erreur Gestionnaire de traitement d initialisation Services et protocoles de maître NMT supplémentaires Entrées du dictionnaire d objets Objet 1020 h : Vérification de configuration Objet 102A h : Temps de blocage NMT Objet 1F20 h : Enregistrement DCF Objet 1F22 h : DCF concis Objet 1F26 h : Date de configuration prévue Objet 1F27 h : Heure de configuration prévue Objet 1F80 h : Démarrage du NMT Objet 1F81 h : Attribution de l esclave NMT Objet 1F82 h : Requête NMT Objet 1F83 h : Requête de protection de nœud Objet 1F84 h : Identification du type de dispositif Objet 1F85 h : Identification du fournisseur Objet 1F86 h : Code produit Objet 1F87 h : Numéro de révision Objet 1F88 h : Numéro de série Objet 1F89 h : Temps d initialisation Objet 1F8A h : Restauration de la configuration Objet 1F91 h : Paramètres de synchronisation de nœuds de démarrage automatique Fonctions passerelle Teneur Architecture de passerelle Principes généraux et services Teneur

17 CEI: Définitions des classes de passerelle Définitions des primitives de service Spécification des services d accès au réseau Services d accès SDO Services d accès PDO Services NMT CANopen Services de gestion de défaillance d un dispositif Services de configuration d interface CANopen Services de gestion de la passerelle Services spécifiques au fabricant Mise en correspondance ASCII des services d accès au réseau Teneur Définitions Spécifications des commandes d accès au réseau Gestion de réseau de train Teneur Gestionnaire, Agents et interfaces (informatif) Protocole des messages de gestion (informatif) Interfaces d objets (informatif) Services de gestion spécifiques CANopen Généralités Interfaces de l Agent sur une Station connectée à un réseau de rame CANopen Structure des messages de gestion pour les réseaux de rame CANopen Notation pour les SIF_codes spécifiques CAnopen Notation pour un message de gestion CANopen d appel Notation pour un message de gestion CANopen de réponse Notation pour les codes de commande de services Canopen TNM Services CANopen TNM Teneur Call_Write_CANopen_Command (avec réservation) Reply_Write_CANopen_Command (avec réservation) Call_Read_CANopen_Command (sans réservation) Reply_Read_CANopen_Command (sans réservation) Traitement des données de messagerie de gestion CANopen Généralités Format des données de messagerie Exigences relatives à la communication des données de messagerie dans les réseaux CANopen Objet 1F78 h : Réception des données de messagerie CANopen Essais de conformité Bibliographie Figure 1 Architecture de réseau logique du Réseau de Rame Figure 2 Topologie de réseau du Réseau de Rame basé sur CANopen Figure 3 Connecteur D-sub à 9 broches Figure 4 Microconnecteur à 5 broches

18 CEI: Figure 5 Modèle de dispositif de terrain Figure 6 Dispositif de terrain minimal Figure 7 Structure du dispositif CANopen Figure 8 Structure d objet «Type de dispositif» Figure 9 Structure d objet Figure 10 Structure d objet Figure 11 Structure d objet Figure 12 Démarrage NMT, partie Figure 13 Démarrage NMT, partie Figure 14 Démarrage du NMT simple Figure 15 Processus «Démarrer le processus d initialisation de l esclave NMT» Figure 16 Initialisation de l esclave NMT, partie Figure 17 Initialisation de l esclave NMT, partie Figure 18 Initialisation de l esclave NMT, partie Figure 19 Vérification de la configuration Figure 20 Vérification de l état NMT Figure 21 Démarrage du contrôle d erreurs Figure 22 Gestionnaire de traitement d erreur Figure 23 Gestionnaire de traitement d initialisation Figure 24 Définition du flux de données d un DCF concis Figure 25 Structure d objet Figure 26 Structure de bit de la valeur de configuration Figure 27 Structure d objet de la valeur Figure 28 Structure de bit de la valeur de configuration Figure 29 Passerelle entre le Réseau Central de Train et le réseau de rame CANopen Figure 30 Messages de gestion (informatif) Figure 31 Interface de l Agent sur une station (passerelle) CANopen pour les données de messagerie Figure 32 Call_Write_CANopen_Command Figure 33 Reply_Write_CANopen_Command Figure 34 Call_Read_CANopen_Command (sans réservation) Figure 35 Reply_Read_CANopen_Command (sans réservation) Figure 36 Dispositif CANopen capable de traiter des messages de gestion TNM Figure 37 Comparaison des formats de données de messagerie Tableau 1 Brochage du connecteur D-sub à 9 broches Tableau 2 Brochage du microconnecteur à 5 broches Tableau 3 Synchronisation des bits Tableau 4 Structure du dictionnaire d objets CANopen Tableau 5 Définition de valeur Tableau 6 Description d objet Tableau 7 Description d entrée Tableau 8 Définition de valeur

19 CEI:2012 Tableau 9 Description d objet Tableau 10 Description d entrée Tableau 11 Définition de valeur Tableau 12 Description d objet Tableau 13 Description d entrée Tableau 14 Etat d erreur Tableau 15 Description d objet Tableau 16 Description d entrée Tableau 17 Description d objet Tableau 18 Description d entrée Tableau 19 Description d objet Tableau 20 Description d entrée Tableau 21 Description d objet Tableau 22 Description d entrée Tableau 23 Description d objet Tableau 24 Description d entrée Tableau 25 Description d objet Tableau 26 Description d entrée Tableau 27 Valeur Maître NMT (bit: 0) Tableau 28 Valeur Démarrage de tous les nœuds (bit: 1) Tableau 29 Valeur Démarrage du Maître NMT (bit: 2) Tableau 30 Valeur Démarrage du nœud (bit: 3) Tableau 31 Initialisation de tous les nœuds (bit: 4) Tableau 32 Maître volant (bit: 5) Tableau 33 Arrêt de tous les nœuds (bit: 6) Tableau 34 Exceptions pour les dispositifs capables de démarrage NMT Tableau 35 Description d objet Tableau 36 Description d entrée Tableau 37 Esclave NMT (bit: 0) Tableau 38 Esclave d initialisation NMT (bit: 2) Tableau 39 Obligatoire (bit: 3) Tableau 40 Initialisation de la communication (bit: 4) Tableau 41 Version logicielle (bit: 5) Tableau 42 Mise à jour du logiciel (bit: 6) Tableau 43 Restauration (bit: 7) Tableau 44 Description d objet Tableau 45 Description d entrée Tableau 46 Définition de valeur Tableau 47 Description d objet Tableau 48 Description d entrée Tableau 49 Définition de valeur Tableau 50 Description d objet Tableau 51 Description d entrée

20 CEI: Tableau 52 Description d objet Tableau 53 Description d entrée Tableau 54 Description d objet Tableau 55 Description d entrée Tableau 56 Description d objet Tableau 57 Description d entrée Tableau 58 Description d objet Tableau 59 Description d entrée Tableau 60 Description d objet Tableau 61 Description d entrée Tableau 62 Description d objet Tableau 63 Description d entrée Tableau 64 Description d objet Tableau 65 Description d entrée Tableau 66 Description d objet Tableau 67 Description d entrée Tableau 68 Service de téléchargement SDO amont Tableau 69 Paramètres de téléchargement SDO aval Tableau 70 Paramètres de configuration de temporisation SDO Tableau 71 Paramètres de configuration des services RPDO Tableau 72 Paramètres de configuration des services TPDO Tableau 73 Paramètres de service de lecture des données PDO Tableau 74 Paramètres de service d écriture des données PDO Tableau 75 Paramètres de service des RPDO reçus Tableau 76 Paramètres de service de démarrage de nœud Tableau 77 Paramètres de service d arrêt de nœud Tableau 78 Paramètres de service de mise du nœud à l état préopérationnel Tableau 79 Paramètres de service d initialisation de nœud Tableau 80 Paramètres de service d initialisation de la communication Tableau 81 Paramètres de service d activation de la protection de nœud Tableau 82 Paramètres de service de désactivation de la protection de nœud Tableau 83 Paramètres de service de démarrage du consommateur de pulsation Tableau 84 Paramètres de service de désactivation du consommateur de pulsation Tableau 85 Paramètres d événement contrôle d erreurs reçu Tableau 86 Paramètres de service de lecture d erreur de dispositif Tableau 87 Paramètres de service d événement situation critiquereçu Tableau 88 Paramètres de service d initialisation de la passerelle Tableau 89 Paramètres de service d enregistrement de configuration Tableau 90 Paramètres de service de restauration de configuration Tableau 91 Paramètres de service de réglage du producteur de pulsation Tableau 92 Paramètres de service de réglage de l indicatif de nœud Tableau 93 Paramètres de service de démarrage du consommateur de messages de situation critique